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AX12.cpp@0:be51952765ec, 2010-06-03 (annotated)

Committer:: chris
Date:: Thu Jun 03 14:22:25 2010 +0000
Revision:: 0:be51952765ec
Child:: 1:93ad80f5fde7

Who changed what in which revision?

User	Revision	Line number	New contents of line
chris	0:be51952765ec	1	/* mbed AX-12+ Servo Library
chris	0:be51952765ec	2	*
chris	0:be51952765ec	3	* Copyright (c) 2010, cstyles (http://mbed.org)
chris	0:be51952765ec	4	*
chris	0:be51952765ec	5	* Permission is hereby granted, free of charge, to any person obtaining a copy
chris	0:be51952765ec	6	* of this software and associated documentation files (the "Software"), to deal
chris	0:be51952765ec	7	* in the Software without restriction, including without limitation the rights
chris	0:be51952765ec	8	* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
chris	0:be51952765ec	9	* copies of the Software, and to permit persons to whom the Software is
chris	0:be51952765ec	10	* furnished to do so, subject to the following conditions:
chris	0:be51952765ec	11	*
chris	0:be51952765ec	12	* The above copyright notice and this permission notice shall be included in
chris	0:be51952765ec	13	* all copies or substantial portions of the Software.
chris	0:be51952765ec	14	*
chris	0:be51952765ec	15	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
chris	0:be51952765ec	16	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
chris	0:be51952765ec	17	* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
chris	0:be51952765ec	18	* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
chris	0:be51952765ec	19	* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
chris	0:be51952765ec	20	* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
chris	0:be51952765ec	21	* THE SOFTWARE.
chris	0:be51952765ec	22	*/
chris	0:be51952765ec	23
chris	0:be51952765ec	24	#include "AX12.h"
chris	0:be51952765ec	25	#include "mbed.h"
chris	0:be51952765ec	26
chris	0:be51952765ec	27
chris	0:be51952765ec	28	AX12::AX12(PinName tx, PinName rx, int ID)
chris	0:be51952765ec	29	: _ax12(tx,rx) {
chris	0:be51952765ec	30
chris	0:be51952765ec	31	_ax12.baud(1000000);
chris	0:be51952765ec	32	_ID = ID;
chris	0:be51952765ec	33	}
chris	0:be51952765ec	34
chris	0:be51952765ec	35	// return 1 is the servo is still in flight
chris	0:be51952765ec	36	int AX12::isMoving(void) {
chris	0:be51952765ec	37
chris	0:be51952765ec	38	char data[1];
chris	0:be51952765ec	39	read(_ID,AX12_REG_MOVING,1,data);
chris	0:be51952765ec	40	return(data[0]);
chris	0:be51952765ec	41	}
chris	0:be51952765ec	42
chris	0:be51952765ec	43	// Set continuous rotation speed from -1 to 1
chris	0:be51952765ec	44	int AX12::SetCRSpeed(float speed) {
chris	0:be51952765ec	45
chris	0:be51952765ec	46	// bit 10 = direction, 0 = CCW, 1=CW
chris	0:be51952765ec	47	// bits 9-0 = Speed
chris	0:be51952765ec	48	char data[2];
chris	0:be51952765ec	49
chris	0:be51952765ec	50	int goal = (0x3ff * abs(speed));
chris	0:be51952765ec	51
chris	0:be51952765ec	52	// Set direction CW if we have a negative speed
chris	0:be51952765ec	53	if (speed < 0) {
chris	0:be51952765ec	54	goal \|= (0x1 << 10);
chris	0:be51952765ec	55	}
chris	0:be51952765ec	56
chris	0:be51952765ec	57	data[0] = goal & 0xff; // bottom 8 bits
chris	0:be51952765ec	58	data[1] = goal >> 8; // top 8 bits
chris	0:be51952765ec	59
chris	0:be51952765ec	60	// write the packet, return the error code
chris	0:be51952765ec	61	int rVal = write(_ID, 0x20, 2, data);
chris	0:be51952765ec	62
chris	0:be51952765ec	63	return(rVal);
chris	0:be51952765ec	64	}
chris	0:be51952765ec	65
chris	0:be51952765ec	66	// Set the mode of the servo
chris	0:be51952765ec	67	// 0 = Positional (0-300 degrees)
chris	0:be51952765ec	68	// 1 = Rotational -1 to 1 speed
chris	0:be51952765ec	69	int AX12::SetMode(int mode) {
chris	0:be51952765ec	70
chris	0:be51952765ec	71	if (mode == 1) { // set CR
chris	0:be51952765ec	72	SetCWLimit(0);
chris	0:be51952765ec	73	SetCCWLimit(0);
chris	0:be51952765ec	74	SetCRSpeed(0.0);
chris	0:be51952765ec	75	} else {
chris	0:be51952765ec	76	SetCWLimit(0);
chris	0:be51952765ec	77	SetCCWLimit(300);
chris	0:be51952765ec	78	SetCRSpeed(0.0);
chris	0:be51952765ec	79	}
chris	0:be51952765ec	80	return(0);
chris	0:be51952765ec	81	}
chris	0:be51952765ec	82
chris	0:be51952765ec	83	float AX12::GetTemp (void) {
chris	0:be51952765ec	84
chris	0:be51952765ec	85	if (AX12_DEBUG) {
chris	0:be51952765ec	86	printf("\nGetTemp(%d)",_ID);
chris	0:be51952765ec	87	}
chris	0:be51952765ec	88	char data[1];
chris	0:be51952765ec	89	int ErrorCode = read(_ID, AX12_REG_TEMP, 1, data);
chris	0:be51952765ec	90	float temp = data[0];
chris	0:be51952765ec	91	return(temp);
chris	0:be51952765ec	92	}
chris	0:be51952765ec	93
chris	0:be51952765ec	94	float AX12::GetVolts (void) {
chris	0:be51952765ec	95	if (AX12_DEBUG) {
chris	0:be51952765ec	96	printf("\nGetVolts(%d)",_ID);
chris	0:be51952765ec	97	}
chris	0:be51952765ec	98	char data[1];
chris	0:be51952765ec	99	int ErrorCode = read(_ID, AX12_REG_VOLTS, 1, data);
chris	0:be51952765ec	100	float volts = data[0]/10.0;
chris	0:be51952765ec	101	return(volts);
chris	0:be51952765ec	102	}
chris	0:be51952765ec	103
chris	0:be51952765ec	104	void AX12::trigger(void) {
chris	0:be51952765ec	105
chris	0:be51952765ec	106	char TxBuf[16];
chris	0:be51952765ec	107	char sum = 0;
chris	0:be51952765ec	108
chris	0:be51952765ec	109	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	110	printf("\nTriggered\n");
chris	0:be51952765ec	111	}
chris	0:be51952765ec	112
chris	0:be51952765ec	113	// Build the TxPacket first in RAM, then we'll send in one go
chris	0:be51952765ec	114	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	115	printf("\nTrigger Packet\n Header : 0xFF, 0xFF\n");
chris	0:be51952765ec	116	}
chris	0:be51952765ec	117
chris	0:be51952765ec	118	TxBuf[0] = 0xFF;
chris	0:be51952765ec	119	TxBuf[1] = 0xFF;
chris	0:be51952765ec	120
chris	0:be51952765ec	121	// ID - Broadcast
chris	0:be51952765ec	122	TxBuf[2] = 0xFE;
chris	0:be51952765ec	123	sum += TxBuf[2];
chris	0:be51952765ec	124
chris	0:be51952765ec	125	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	126	printf(" ID : %d\n",TxBuf[2]);
chris	0:be51952765ec	127	}
chris	0:be51952765ec	128
chris	0:be51952765ec	129	// Length
chris	0:be51952765ec	130	TxBuf[3] = 0x02;
chris	0:be51952765ec	131	sum += TxBuf[3];
chris	0:be51952765ec	132	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	133	printf(" Length %d\n",TxBuf[3]);
chris	0:be51952765ec	134	}
chris	0:be51952765ec	135
chris	0:be51952765ec	136	// Instruction - ACTION
chris	0:be51952765ec	137	TxBuf[4] = 0x04;
chris	0:be51952765ec	138	sum += TxBuf[4];
chris	0:be51952765ec	139	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	140	printf(" Instruction 0x%X\n",TxBuf[5]);
chris	0:be51952765ec	141	}
chris	0:be51952765ec	142
chris	0:be51952765ec	143	// Checksum
chris	0:be51952765ec	144	TxBuf[5] = 0xFF - sum;
chris	0:be51952765ec	145	if (AX12_TRIGGER_DEBUG) {
chris	0:be51952765ec	146	printf(" Checksum 0x%X\n",TxBuf[5]);
chris	0:be51952765ec	147	}
chris	0:be51952765ec	148
chris	0:be51952765ec	149	// Transmit the packet in one burst with no pausing
chris	0:be51952765ec	150	for (int i = 0; i < 6 ; i++) {
chris	0:be51952765ec	151	_ax12.putc(TxBuf[i]);
chris	0:be51952765ec	152	}
chris	0:be51952765ec	153
chris	0:be51952765ec	154	// This is a broadcast packet, so there will be no reply
chris	0:be51952765ec	155
chris	0:be51952765ec	156	return;
chris	0:be51952765ec	157	}
chris	0:be51952765ec	158
chris	0:be51952765ec	159	int AX12::SetGoal(int degrees, int flags) {
chris	0:be51952765ec	160
chris	0:be51952765ec	161	// if flag[0] is set, were blocking
chris	0:be51952765ec	162	// if flag[1] is set, we're registering
chris	0:be51952765ec	163	// they are mutually exclusive operations
chris	0:be51952765ec	164
chris	0:be51952765ec	165	char reg_flag = 0;
chris	0:be51952765ec	166
chris	0:be51952765ec	167	char data[2];
chris	0:be51952765ec	168
chris	0:be51952765ec	169	// set the flag is only the register bit is set in the flag
chris	0:be51952765ec	170	if (flags == 0x2) {
chris	0:be51952765ec	171	reg_flag = 1;
chris	0:be51952765ec	172	}
chris	0:be51952765ec	173
chris	0:be51952765ec	174	// 1023 / 300 * degrees
chris	0:be51952765ec	175	short goal = (1023 * degrees) / 300;
chris	0:be51952765ec	176	if (AX12_DEBUG) {
chris	0:be51952765ec	177	printf("SetGoal to 0x%x\n",goal);
chris	0:be51952765ec	178	}
chris	0:be51952765ec	179
chris	0:be51952765ec	180	data[0] = goal & 0xff; // bottom 8 bits
chris	0:be51952765ec	181	data[1] = goal >> 8; // top 8 bits
chris	0:be51952765ec	182
chris	0:be51952765ec	183	// write the packet, return the error code
chris	0:be51952765ec	184	int rVal = write(_ID, AX12_REG_GOAL_POSITION, 2, data, reg_flag);
chris	0:be51952765ec	185
chris	0:be51952765ec	186	if (flags == 1) {
chris	0:be51952765ec	187	// block until it comes to a halt
chris	0:be51952765ec	188	while (isMoving()) {}
chris	0:be51952765ec	189	}
chris	0:be51952765ec	190
chris	0:be51952765ec	191	return(rVal);
chris	0:be51952765ec	192
chris	0:be51952765ec	193	}
chris	0:be51952765ec	194
chris	0:be51952765ec	195	float AX12::GetPosition(void) {
chris	0:be51952765ec	196
chris	0:be51952765ec	197	if (AX12_DEBUG) {
chris	0:be51952765ec	198	printf("\nGetPosition(%d)",_ID);
chris	0:be51952765ec	199	}
chris	0:be51952765ec	200
chris	0:be51952765ec	201	char data[2];
chris	0:be51952765ec	202
chris	0:be51952765ec	203	int ErrorCode = read(_ID, AX12_REG_POSITION, 2, data);
chris	0:be51952765ec	204	short position = data[0] + (data[1] << 8);
chris	0:be51952765ec	205	float angle = (position * 300)/1024;
chris	0:be51952765ec	206
chris	0:be51952765ec	207	return (angle);
chris	0:be51952765ec	208	}
chris	0:be51952765ec	209
chris	0:be51952765ec	210	int AX12::SetCWLimit (int degrees) {
chris	0:be51952765ec	211
chris	0:be51952765ec	212	char data[2];
chris	0:be51952765ec	213
chris	0:be51952765ec	214	// 1023 / 300 * degrees
chris	0:be51952765ec	215	short limit = (1023 * degrees) / 300;
chris	0:be51952765ec	216
chris	0:be51952765ec	217	if (AX12_DEBUG) {
chris	0:be51952765ec	218	printf("SetCWLimit to 0x%x\n",limit);
chris	0:be51952765ec	219	}
chris	0:be51952765ec	220
chris	0:be51952765ec	221	data[0] = limit & 0xff; // bottom 8 bits
chris	0:be51952765ec	222	data[1] = limit >> 8; // top 8 bits
chris	0:be51952765ec	223
chris	0:be51952765ec	224	// write the packet, return the error code
chris	0:be51952765ec	225	return (write(_ID, AX12_REG_CW_LIMIT, 2, data));
chris	0:be51952765ec	226
chris	0:be51952765ec	227	}
chris	0:be51952765ec	228
chris	0:be51952765ec	229	int AX12::SetCCWLimit (int degrees) {
chris	0:be51952765ec	230
chris	0:be51952765ec	231	char data[2];
chris	0:be51952765ec	232
chris	0:be51952765ec	233	// 1023 / 300 * degrees
chris	0:be51952765ec	234	short limit = (1023 * degrees) / 300;
chris	0:be51952765ec	235
chris	0:be51952765ec	236	if (AX12_DEBUG) {
chris	0:be51952765ec	237	printf("SetCCWLimit to 0x%x\n",limit);
chris	0:be51952765ec	238	}
chris	0:be51952765ec	239
chris	0:be51952765ec	240	data[0] = limit & 0xff; // bottom 8 bits
chris	0:be51952765ec	241	data[1] = limit >> 8; // top 8 bits
chris	0:be51952765ec	242
chris	0:be51952765ec	243	// write the packet, return the error code
chris	0:be51952765ec	244	return (write(_ID, AX12_REG_CCW_LIMIT, 2, data));
chris	0:be51952765ec	245	}
chris	0:be51952765ec	246
chris	0:be51952765ec	247	int AX12::SetID (int CurrentID, int NewID) {
chris	0:be51952765ec	248
chris	0:be51952765ec	249	char data[1];
chris	0:be51952765ec	250	data[0] = NewID;
chris	0:be51952765ec	251	if (AX12_DEBUG) {
chris	0:be51952765ec	252	printf("Setting ID from 0x%x to 0x%x\n",CurrentID,NewID);
chris	0:be51952765ec	253	}
chris	0:be51952765ec	254	return (write(CurrentID, AX12_REG_ID, 1, data));
chris	0:be51952765ec	255
chris	0:be51952765ec	256	}
chris	0:be51952765ec	257
chris	0:be51952765ec	258
chris	0:be51952765ec	259	int AX12::read(int ID, int start, int bytes, char* data) {
chris	0:be51952765ec	260
chris	0:be51952765ec	261	char PacketLength = 0x4;
chris	0:be51952765ec	262	char TxBuf[16];
chris	0:be51952765ec	263	char sum = 0;
chris	0:be51952765ec	264	char Status[16];
chris	0:be51952765ec	265
chris	0:be51952765ec	266	Status[4] = 0xFE; // return code
chris	0:be51952765ec	267
chris	0:be51952765ec	268	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	269	printf("\nread(%d,0x%x,%d,data)\n",ID,start,bytes);
chris	0:be51952765ec	270	}
chris	0:be51952765ec	271
chris	0:be51952765ec	272	// Build the TxPacket first in RAM, then we'll send in one go
chris	0:be51952765ec	273	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	274	printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris	0:be51952765ec	275	}
chris	0:be51952765ec	276
chris	0:be51952765ec	277	TxBuf[0] = 0xff;
chris	0:be51952765ec	278	TxBuf[1] = 0xff;
chris	0:be51952765ec	279
chris	0:be51952765ec	280	// ID
chris	0:be51952765ec	281	TxBuf[2] = ID;
chris	0:be51952765ec	282	sum += TxBuf[2];
chris	0:be51952765ec	283	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	284	printf(" ID : %d\n",TxBuf[2]);
chris	0:be51952765ec	285	}
chris	0:be51952765ec	286
chris	0:be51952765ec	287	// Packet Length
chris	0:be51952765ec	288	TxBuf[3] = PacketLength; // Length = 4 ; 2 + 1 (start) = 1 (bytes)
chris	0:be51952765ec	289	sum += TxBuf[3]; // Accululate the packet sum
chris	0:be51952765ec	290	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	291	printf(" Length : 0x%x\n",TxBuf[3]);
chris	0:be51952765ec	292	}
chris	0:be51952765ec	293
chris	0:be51952765ec	294	// Instruction - Read
chris	0:be51952765ec	295	TxBuf[4] = 0x2;
chris	0:be51952765ec	296	sum += TxBuf[4];
chris	0:be51952765ec	297	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	298	printf(" Instruction : 0x%x\n",TxBuf[4]);
chris	0:be51952765ec	299	}
chris	0:be51952765ec	300
chris	0:be51952765ec	301	// Start Address
chris	0:be51952765ec	302	TxBuf[5] = start;
chris	0:be51952765ec	303	sum += TxBuf[5];
chris	0:be51952765ec	304	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	305	printf(" Start Address : 0x%x\n",TxBuf[5]);
chris	0:be51952765ec	306	}
chris	0:be51952765ec	307
chris	0:be51952765ec	308	// Bytes to read
chris	0:be51952765ec	309	TxBuf[6] = bytes;
chris	0:be51952765ec	310	sum += TxBuf[6];
chris	0:be51952765ec	311	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	312	printf(" No bytes : 0x%x\n",TxBuf[6]);
chris	0:be51952765ec	313	}
chris	0:be51952765ec	314
chris	0:be51952765ec	315	// Checksum
chris	0:be51952765ec	316	TxBuf[7] = 0xFF - sum;
chris	0:be51952765ec	317	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	318	printf(" Checksum : 0x%x\n",TxBuf[7]);
chris	0:be51952765ec	319	}
chris	0:be51952765ec	320
chris	0:be51952765ec	321	// Transmit the packet in one burst with no pausing
chris	0:be51952765ec	322	for (int i = 0; i<8 ; i++) {
chris	0:be51952765ec	323	_ax12.putc(TxBuf[i]);
chris	0:be51952765ec	324	}
chris	0:be51952765ec	325
chris	0:be51952765ec	326	// Wait for the bytes to be transmitted
chris	0:be51952765ec	327	wait (0.00002);
chris	0:be51952765ec	328
chris	0:be51952765ec	329	// Skip if the read was to the broadcast address
chris	0:be51952765ec	330	if (_ID != 0xFE) {
chris	0:be51952765ec	331
chris	0:be51952765ec	332	// Receive the Status packet 6+ number of bytes read
chris	0:be51952765ec	333	for (int i=0; i<(6+bytes) ; i++) {
chris	0:be51952765ec	334	Status[i] = _ax12.getc();
chris	0:be51952765ec	335	}
chris	0:be51952765ec	336
chris	0:be51952765ec	337	// Copy the data from Status into data for return
chris	0:be51952765ec	338	for (int i=0; i < Status[3]-2 ; i++) {
chris	0:be51952765ec	339	data[i] = Status[5+i];
chris	0:be51952765ec	340	}
chris	0:be51952765ec	341
chris	0:be51952765ec	342	if (AX12_READ_DEBUG) {
chris	0:be51952765ec	343	printf("\nStatus Packet\n");
chris	0:be51952765ec	344	printf(" Header : 0x%x\n",Status[0]);
chris	0:be51952765ec	345	printf(" Header : 0x%x\n",Status[1]);
chris	0:be51952765ec	346	printf(" ID : 0x%x\n",Status[2]);
chris	0:be51952765ec	347	printf(" Length : 0x%x\n",Status[3]);
chris	0:be51952765ec	348	printf(" Error Code : 0x%x\n",Status[4]);
chris	0:be51952765ec	349
chris	0:be51952765ec	350	for (int i=0; i < Status[3]-2 ; i++) {
chris	0:be51952765ec	351	printf(" Data : 0x%x\n",Status[5+i]);
chris	0:be51952765ec	352	}
chris	0:be51952765ec	353
chris	0:be51952765ec	354	printf(" Checksum : 0x%x\n",Status[5+(Status[3]-2)]);
chris	0:be51952765ec	355	}
chris	0:be51952765ec	356
chris	0:be51952765ec	357	} // if (ID!=0xFE)
chris	0:be51952765ec	358
chris	0:be51952765ec	359	return(Status[4]);
chris	0:be51952765ec	360	}
chris	0:be51952765ec	361
chris	0:be51952765ec	362	int AX12:: write(int ID, int start, int bytes, char* data, int flag) {
chris	0:be51952765ec	363
chris	0:be51952765ec	364	// number of bytes in packet
chris	0:be51952765ec	365	// 0xff, 0xff, ID, Length, Intruction(write), Address, Param(s), Checksum
chris	0:be51952765ec	366	// 7 + bytes
chris	0:be51952765ec	367
chris	0:be51952765ec	368	char TxBuf[16];
chris	0:be51952765ec	369	char sum = 0;
chris	0:be51952765ec	370	char Status[6];
chris	0:be51952765ec	371
chris	0:be51952765ec	372	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	373	printf("\nwrite(%d,0x%x,%d,data,%d)\n",ID,start,bytes,flag);
chris	0:be51952765ec	374	}
chris	0:be51952765ec	375
chris	0:be51952765ec	376	// Build the TxPacket first in RAM, then we'll send in one go
chris	0:be51952765ec	377	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	378	printf("\nInstruction Packet\n Header : 0xFF, 0xFF\n");
chris	0:be51952765ec	379	}
chris	0:be51952765ec	380
chris	0:be51952765ec	381	TxBuf[0] = 0xff;
chris	0:be51952765ec	382	TxBuf[1] = 0xff;
chris	0:be51952765ec	383
chris	0:be51952765ec	384	// ID
chris	0:be51952765ec	385	TxBuf[2] = ID;
chris	0:be51952765ec	386	sum += TxBuf[2];
chris	0:be51952765ec	387
chris	0:be51952765ec	388	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	389	printf(" ID : %d\n",TxBuf[2]);
chris	0:be51952765ec	390	}
chris	0:be51952765ec	391
chris	0:be51952765ec	392	// packet Length
chris	0:be51952765ec	393	TxBuf[3] = 3+bytes;
chris	0:be51952765ec	394	sum += TxBuf[3];
chris	0:be51952765ec	395
chris	0:be51952765ec	396	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	397	printf(" Length : %d\n",TxBuf[3]);
chris	0:be51952765ec	398	}
chris	0:be51952765ec	399
chris	0:be51952765ec	400	// Instruction
chris	0:be51952765ec	401	if (flag == 1) {
chris	0:be51952765ec	402	TxBuf[4]=0x04;
chris	0:be51952765ec	403	sum += TxBuf[4];
chris	0:be51952765ec	404	} else {
chris	0:be51952765ec	405	TxBuf[4]=0x03;
chris	0:be51952765ec	406	sum += TxBuf[4];
chris	0:be51952765ec	407	}
chris	0:be51952765ec	408
chris	0:be51952765ec	409	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	410	printf(" Instruction : 0x%x\n",TxBuf[4]);
chris	0:be51952765ec	411	}
chris	0:be51952765ec	412
chris	0:be51952765ec	413	// Start Address
chris	0:be51952765ec	414	TxBuf[5] = start;
chris	0:be51952765ec	415	sum += TxBuf[5];
chris	0:be51952765ec	416	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	417	printf(" Start : 0x%x\n",TxBuf[5]);
chris	0:be51952765ec	418	}
chris	0:be51952765ec	419
chris	0:be51952765ec	420	// data
chris	0:be51952765ec	421	for (char i=0; i<bytes ; i++) {
chris	0:be51952765ec	422	TxBuf[6+i] = data[i];
chris	0:be51952765ec	423	sum += TxBuf[6+i];
chris	0:be51952765ec	424	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	425	printf(" Data : 0x%x\n",TxBuf[6+i]);
chris	0:be51952765ec	426	}
chris	0:be51952765ec	427	}
chris	0:be51952765ec	428
chris	0:be51952765ec	429	// checksum
chris	0:be51952765ec	430	TxBuf[6+bytes] = 0xFF - sum;
chris	0:be51952765ec	431	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	432	printf(" Checksum : 0x%x\n",TxBuf[6+bytes]);
chris	0:be51952765ec	433	}
chris	0:be51952765ec	434
chris	0:be51952765ec	435	// Transmit the packet in one burst with no pausing
chris	0:be51952765ec	436	for (int i = 0; i < (7 + bytes) ; i++) {
chris	0:be51952765ec	437	_ax12.putc(TxBuf[i]);
chris	0:be51952765ec	438	}
chris	0:be51952765ec	439
chris	0:be51952765ec	440	// Wait for data to transmit
chris	0:be51952765ec	441	wait (0.00002);
chris	0:be51952765ec	442
chris	0:be51952765ec	443	// make sure we have a valid return
chris	0:be51952765ec	444	Status[4]=0x00;
chris	0:be51952765ec	445
chris	0:be51952765ec	446	// we'll only get a reply if it was not broadcast
chris	0:be51952765ec	447	if (_ID!=0xFE) {
chris	0:be51952765ec	448
chris	0:be51952765ec	449	// response is always 6 bytes
chris	0:be51952765ec	450	// 0xFF, 0xFF, ID, Length Error, Param(s) Checksum
chris	0:be51952765ec	451	for (int i=0; i < 6 ; i++) {
chris	0:be51952765ec	452	Status[i] = _ax12.getc();
chris	0:be51952765ec	453	}
chris	0:be51952765ec	454
chris	0:be51952765ec	455	// Build the TxPacket first in RAM, then we'll send in one go
chris	0:be51952765ec	456	if (AX12_WRITE_DEBUG) {
chris	0:be51952765ec	457	printf("\nStatus Packet\n Header : 0x%X, 0x%X\n",Status[0],Status[1]);
chris	0:be51952765ec	458	printf(" ID : %d\n",Status[2]);
chris	0:be51952765ec	459	printf(" Length : %d\n",Status[3]);
chris	0:be51952765ec	460	printf(" Error : 0x%x\n",Status[4]);
chris	0:be51952765ec	461	printf(" Checksum : 0x%x\n",Status[5]);
chris	0:be51952765ec	462	}
chris	0:be51952765ec	463
chris	0:be51952765ec	464
chris	0:be51952765ec	465	}
chris	0:be51952765ec	466
chris	0:be51952765ec	467	return(Status[4]); // return error code
chris	0:be51952765ec	468	}

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Type:	Library
Created:	03 Jun 2010
Imports:	1102
Forks:	11
Commits:	4
Dependents:	14
Dependencies:	0
Followers:	12

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AX-12

AX12.cpp@0:be51952765ec, 2010-06-03 (annotated)

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